公开(公告)号：US20200218366A1

公开(公告)日：2020-07-09

申请号：US16625038

申请日：2018-06-29

Applicant: Hilti Aktiengesellschaft

Inventor： Kent KAHLE ,  Sascha KORL ,  Andreas WINTER ,  Scott GRAYBILL

IPC: G06F3/0346 ,  G01C15/08 ,  G01S17/42 ,  G01S17/66 ,  G01S5/16

Abstract: A system and method for determining a position and orientation (e.g., pose) of a rigid body. The rigid body may be a position enabled projector, a surveying rod, a power tool, a drill robot, etc., in a given space. The position of the rigid body is specified by a set of three coordinates and the orientation is specified by a set of three angles. As such, based on these six values, the position and orientation of the rigid body can be determined.

公开(公告)号：US20240181639A1

公开(公告)日：2024-06-06

申请号：US18286355

申请日：2022-05-04

Applicant: Hilti Aktiengesellschaft

Inventor： Nitish KUMAR ,  Sascha KORL ,  Luca BARTOLOMEI ,  Lucas TEIXEIRA ,  Margarita CHLI

IPC: B25J9/16 ,  B25J5/00 ,  G05B13/02 ,  G05D1/246 ,  G05D1/43 ,  G05D1/49

CPC classification number: B25J9/1664 ,  B25J5/007 ,  B25J9/1697 ,  G05B13/0265 ,  G05D1/246 ,  G05D1/43 ,  G05D1/49

Abstract: A method of acquiring sensor data on a construction site by at least one sensor of a construction robot system comprising at least one construction robot is provided, wherein a sensor is controlled using a trainable agent, thus improving the quality of acquired sensor data. A construction robot system, a computer program product, and a training method are also provided.

公开(公告)号：US20190004619A1

公开(公告)日：2019-01-03

申请号：US15638815

申请日：2017-06-30

Applicant: Hilti Aktiengesellschaft

Inventor： Kent KAHLE ,  Andreas WINTER ,  Sascha KORL ,  Scott GRAYBILL

IPC: G06F3/0346 ,  G01S5/16

Abstract: A system and method for determining a position and orientation (e.g., pose) of a rigid body is disclosed. The rigid body may be a position enabled projector, a surveying rod, a power tool, a drill robot, etc., in a given space. The position of the rigid body is specified by a set of three coordinates and the orientation is specified by a set of three angles. As such, based on these six values, the position and orientation of the rigid body can be determined.

公开(公告)号：US20240181625A1

公开(公告)日：2024-06-06

申请号：US18284646

申请日：2022-04-13

Applicant: Hilti Aktiengesellschaft

Inventor： Nitish KUMAR ,  Sascha KORL ,  Abel GAWEL ,  Hermann BLUM ,  Francesco MILANO ,  Roland SIEGWART ,  Cesar CADENA ,  René ZURBRÜGG

IPC: B25J5/00 ,  B25J11/00 ,  G06T7/11 ,  G06T7/73

CPC classification number: B25J5/007 ,  B25J11/005 ,  G06T7/11 ,  G06T7/73 ,  G06T2207/20081

Abstract: A method of localizing a mobile construction robot on a construction site, wherein environment data of the construction site is captured, wherein a pose of the mobile robot is inferred using the environment data disclosed, wherein the method comprises a step of semantic segmentation, wherein a semantic classifier having an updatable semantic model classifies the environment data into at least two semantic classes, wherein the semantic model is updated at least once. Furthermore, the invention concerns a mobile construction robot system and a computer program product. The invention provides solutions for a robust and precise localization of the mobile construction robot.

公开(公告)号：US20200186768A1

公开(公告)日：2020-06-11

申请号：US16637965

申请日：2018-07-25

Applicant: Hilti Aktiengesellschaft

Inventor： Sascha KORL ,  Vinod KHARE ,  Yujia ZHANG

IPC: H04N9/31 ,  G01B11/25 ,  H04N5/247

Abstract: A system and method for recalibrating a projector system. The system includes one or more cameras, a projector, and at least one processor. The at least one processor is configured to execute stored instructions to project one or more patterns on to a work surface via the projector, capture images of the projected one or more patterns via the one or more cameras, perform analysis on the captured images of the one or more patterns, determine projector calibration parameters based at least in part on the performed analysis on the captured images, and recalibrate the projector system such that an image is projected onto the work surface by the projector at a correct position based on the determined projector calibration parameters.

公开(公告)号：US20200151848A1

公开(公告)日：2020-05-14

申请号：US16625066

申请日：2018-06-29

Applicant: Hilti Aktiengesellschaft

Inventor： Kent KAHLE ,  Vinod KHARE ,  Sascha KORL ,  Andreas WINTER

IPC: G06T3/00 ,  G01B11/25 ,  G06T17/20

Abstract: A system and method for surface profiling via a projection system, such as a position enabled projector. By way of example, a three-dimensional representation of a physical object, such as an uneven surface of the object, may be generated and profiled. The three-dimensional representation may be a 3D point cloud, a surface mesh, or any other suitable type of representation. A two-dimensional image to be projected onto the surface may undergo an image transformation based on the generated 3D representation of the surface. The transformed image is then projected onto the surface, where the image points projected are at their true positions with true scale. Moreover, the projected image may be automatically updated when the projector is moved to a new position.

公开(公告)号：US20190052851A1

公开(公告)日：2019-02-14

申请号：US15970764

申请日：2018-05-03

Applicant: Hilti Aktiengesellschaft

Inventor： Sascha KORL ,  Vinod KHARE ,  Yujia ZHANG

IPC: H04N9/31 ,  H04N5/247 ,  G01B11/25 ,  G06T3/00 ,  G06T7/521 ,  G06T7/80

Abstract: The invention is directed to a system and method for recalibrating a projector system. The projector may be calibrated using one or more cameras arranged near or adjacent to a projector of a projector system. The one or more cameras may be calibrated once and made mechanically stable so that they do not move relative to each other. During operation of the projector system, the projector may project one or more specific patterns onto a work surface, where the one or more cameras capture each of the projected patterns. All the captured images of the patterns by the one or more cameras may be used to determine projector calibration parameters in order to recalibrate the projector.

公开(公告)号：US20240375280A1

公开(公告)日：2024-11-14

申请号：US18286351

申请日：2022-04-26

Applicant: Hilti Aktiengesellschaft

Inventor： Nitish KUMAR ,  Sascha KORL ,  Florian KENNEL-MAUSHART ,  Roi PORANNE ,  Stelian COROS

IPC: B25J9/16 ,  B25J5/00 ,  B25J9/00

Abstract: A method of manipulating a construction object on a construction site using a construction robot system is disclosed wherein the construction robot system comprises at least two robotic arms, wherein a controller virtually manipulates a virtual representation of the construction object, and a control unit of the construction robot system controls the robotic arms such that the construction object is manipulated according to the virtual manipulation of the virtual representation of the construction object. Furthermore, a construction robot system and a computer program product is provided.

公开(公告)号：US20230400579A1

公开(公告)日：2023-12-14

申请号：US18032104

申请日：2021-10-27

Applicant: Hilti Aktiengesellschaft

Inventor： Sascha KORL ,  Peer SCHMIDT ,  Nitish KUMAR ,  Kristian MORIN ,  Michael HELMBERGER

IPC: G01S17/42 ,  G01S17/86

CPC classification number: G01S17/42 ,  G01S17/86

Abstract: A method for repeatedly measuring the position of a construction device on a construction site, wherein a position is measured relative to at least two, the method comprising: a. directly measuring the distances from a position measurement system arranged and/or formed on the construction device to at least two of the markings located in a field of view of the position measurement system and measuring the apparent viewing angles of the at least two of the markings from the position measurement system to carry out a first measurement of the position of the construction device and b. taking a bearing of at least two of the markings from the position measurement system to carry out a second measurement of the position of the construction device.

公开(公告)号：US20230325744A1

公开(公告)日：2023-10-12

申请号：US18028131

申请日：2021-10-05

Applicant: Hilti Aktiengesellschaft

Inventor： Peter BRUGGER ,  Sascha KORL ,  Nitish KUMAR ,  Julia ZANONA

IPC: G06Q10/0631 ,  G06Q50/08 ,  B25J9/16

CPC classification number: G06Q10/06316 ,  G06Q50/08 ,  B25J9/1661

Abstract: A construction robot for performing construction tasks on a construction site, in particular a building construction site and/or a civil engineering construction site, comprising at least one manipulator for performing a construction task, an internal construction task management system, which is set up to store an internal construction task list of the construction robot in a retrievable manner, the internal construction task list comprising one or more construction tasks to be performed by the construction robot on the construction site, and a communication interface for communication with an external construction task management system, the external construction task management system being set up to store an external construction task list in a retrievable manner, the external construction task list comprising one or more construction tasks to be performed on the construction site, the construction robot being set up to send at least one construction task and/or a construction task status of a construction task of the internal construction task list to the external construction task management system via the communication interface. The invention further comprises a construction robot system and a method for controlling at least one construction robot of a construction robot system. The invention makes it possible for construction tasks to be performed on a construction site in a documented manner.